CN111433695A - Agricultural plant protection unmanned aerial vehicle and control method thereof - Google Patents
Agricultural plant protection unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN111433695A CN111433695A CN201880068620.5A CN201880068620A CN111433695A CN 111433695 A CN111433695 A CN 111433695A CN 201880068620 A CN201880068620 A CN 201880068620A CN 111433695 A CN111433695 A CN 111433695A
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- 238000000034 method Methods 0.000 title claims abstract description 72
- 238000004891 communication Methods 0.000 claims abstract description 26
- 230000004913 activation Effects 0.000 claims description 57
- 230000003213 activating effect Effects 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 3
- 238000001994 activation Methods 0.000 description 45
- 238000005507 spraying Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 6
- 230000006378 damage Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000000857 drug effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000003442 weekly effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
Abstract
An agricultural plant protection unmanned aerial vehicle and a control method thereof belong to the technical field of unmanned aerial vehicles, and the agricultural plant protection unmanned aerial vehicle (100) comprises: a power system (110) for providing flight power to the drone; the flight controller (120) is electrically connected with the power system and is used for controlling the power system (110) to adjust the flight attitude; a wireless communication device (130) electrically connected with a flight controller (120), wherein the flight controller (120) is connected with a control terminal in a communication way through the wireless communication device (130); wherein the wireless communication device (130) transmits an update packet of the user work information transmitted by the control terminal to the flight controller (120); the flight controller (120) updates the locally stored user operation information according to the update data packet of the user operation information; the flight controller (120) determines whether to enter a locked mode based on the updated locally stored user job information. This agricultural plant protection unmanned aerial vehicle has solved the problem that the operating efficiency that needs the manual work to carry out the operation and arouse is lower and the operation effect is relatively poor.
Description
The present disclosure relates to the field of unmanned aerial vehicle technology, and in particular, to an agricultural plant protection unmanned aerial vehicle and a control method for the agricultural plant protection unmanned aerial vehicle.
In the traditional flying prevention field, spraying is mainly carried out by depending on manpower; however, the spraying mode not only causes harm to human bodies, but also has low efficiency, and meanwhile, the drug effect cannot be guaranteed.
In order to solve the problems, emerging plant protection unmanned aerial vehicles enter the agricultural market, and a lot of people also have deeper and deeper understanding in the field of flight and defense of plant protection unmanned aerial vehicles. However, the plant protection unmanned aerial vehicle in the market is expensive at present, and the threshold for purchasing the plant protection unmanned aerial vehicle by people is greatly increased, so that the popularization and speed increase of the unmanned aerial vehicle cannot be guaranteed, and the problem of low agricultural informatization speed is caused to a certain extent.
Therefore, it is necessary to provide a new agricultural plant protection unmanned aerial vehicle and a control method thereof.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The utility model aims to provide an agricultural plant protection unmanned aerial vehicle and control method of agricultural plant protection unmanned aerial vehicle, and then overcome at least to a certain extent that plant protection unmanned aerial vehicle selling price is too high because of the restriction and the defect of correlation technique leads to for unmanned aerial vehicle popularizes the problem that the acceleration rate is slower and operating efficiency is lower.
According to an aspect of the present disclosure, there is provided an agricultural plant protection unmanned aerial vehicle, comprising:
the power system is used for providing flight power for the unmanned aerial vehicle;
the flight controller is electrically connected with the power system and used for controlling the power system to adjust the flight attitude;
the wireless communication device is electrically connected with the flight controller, and the flight controller is in communication connection with the control terminal through the wireless communication device;
the wireless communication device sends an update data packet of the user operation information sent by the control terminal to a flight controller;
the flight controller updates the locally stored user operation information according to the update data packet of the user operation information;
and the flight controller determines whether to enter a locking mode according to the updated locally stored user operation information.
According to one aspect of the present disclosure, there is provided a control method of an agricultural plant protection unmanned aerial vehicle, the method including:
receiving an update data packet of user operation information sent by a control terminal;
updating the locally stored user operation information according to the updating data packet of the user operation information;
and determining whether to enter a locking mode according to the updated locally stored user operation information.
The invention discloses an agricultural plant protection unmanned aerial vehicle and a control method thereof, which are provided with a flight controller and a wireless communication device, wherein on one hand, the wireless communication device sends an update data packet of user operation information sent by a control terminal to the flight controller; the flight controller updates the locally stored user operation information according to the update data packet of the user operation information; determining whether the unmanned aerial vehicle enters a locking mode or not according to the updated locally stored user operation information; under the condition that the unmanned aerial vehicle does not need to enter a locking mode, the unmanned aerial vehicle directly enters an operation mode, and the problems of low operation efficiency and poor operation effect caused by manual operation in the prior art are solved;
on the other hand, the wireless communication device transmits an update packet of the user operation information transmitted by the control terminal to the flight controller; the flight controller updates the locally stored user operation information according to the update data packet of the user operation information; the method has the advantages that the user can arrange the information to be operated of the plant protection unmanned aerial vehicle at the control terminal and then send the information to be operated to the flight controller, so that the problem that the operation arrangement process is complicated due to the fact that the user needs to directly arrange the flight operation in the flight controller is solved, and the arrangement efficiency of the operation information is improved;
on the other hand, the flight controller determines whether to enter a locking mode or not according to the updated locally stored user operation information; the plant protection unmanned aerial vehicle can determine that the unmanned aerial vehicle enters a locking mode when the updated user operation information meets a preset condition (for example, the operation to be performed is more than the operation available acreage), so that the excessive use of the plant protection unmanned aerial vehicle by a user is avoided, and the economic loss is further reduced; simultaneously, after getting into the locking mode, the user can be through adopting the mode of continuing to pay to unblock, and it is great to have avoided the purchase difficulty that needs the higher amount expense of disposable payment to lead to, and then makes unmanned aerial vehicle popularize the acceleration rate and can not obtain the guarantee to lead to the slower problem of agricultural information ization speed to a certain extent.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
Fig. 1 schematically shows an apparatus example diagram of an agricultural plant protection unmanned aerial vehicle.
Fig. 2 schematically shows an application scenario example diagram of an agricultural plant protection unmanned aerial vehicle.
Fig. 3 schematically shows a flow chart of a control method of the agricultural plant protection unmanned aerial vehicle.
Fig. 4 schematically shows a flowchart of an activation method of an agricultural plant protection unmanned aerial vehicle.
Fig. 5 schematically shows a flow chart of another control method of the agricultural plant protection unmanned aerial vehicle.
Fig. 6 schematically shows a flow chart of another control method of the agricultural plant protection unmanned aerial vehicle.
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The terms "a," "an," "the," and "said" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first" and "second", etc. are used merely as labels, and are not limiting on the number of their objects.
The invention discloses an unmanned aerial vehicle and a control method thereof, wherein the control modes comprise a common mode and a limiting mode, and when a preset condition is met, the control mode is selected to work.
In some of these embodiments, the respective control mode is selected in accordance with the operational information of the drone. For example, if the total amount of the already-operated information is greater than or equal to a preset value, the instruction of the normal mode is selected.
The control terminal of the unmanned aerial vehicle can send an instruction for selecting the common mode according to the fact that the total amount of the operated information is larger than or equal to a preset value. The control terminal can be a remote controller of an unmanned aerial vehicle, a mobile phone, a tablet personal computer, a ground base station, a background server and the like.
Or, an onboard controller (e.g., a flight controller) of the drone may send an instruction to select the normal mode according to whether the total amount of the operated information is greater than or equal to a preset value.
Specifically, the job information may include at least one of: working mileage, working area, working time, working dose, flight time, takeoff times and the like, shooting times and shooting time.
Specifically, operation related information is obtained according to a sensor of the unmanned aerial vehicle, and the operated information is calculated according to the operation related information. The sensor may include at least one of: position sensors, timers, flow meters, image sensors, height sensors, etc.
For example, (1) the current work mileage can be obtained in real time from the positioning sensor (e.g., GPS, etc.) of the drone to calculate the worked mileage. (2) According to the working distance obtained by the positioning sensor of the unmanned aerial vehicle and the preset working width, the working area can be obtained in real time so as to calculate the working area; or calculating to obtain the operated area according to the current position information acquired by the positioning sensor of the unmanned aerial vehicle and a preset operation track. (3) And recording the operation time or the flying time in real time according to the timer of the unmanned aerial vehicle so as to calculate the operated time or the flying time. (4) And acquiring the sprayed pesticide amount in real time according to the flow sensor of the unmanned aerial vehicle so as to calculate the operated pesticide amount. (5) And recording the takeoff times in real time according to the height sensor of the unmanned aerial vehicle so as to calculate the takeoff times. (6) And according to the image sensor carried by the unmanned aerial vehicle, shooting times or shooting time are taken in real time so as to calculate the shot times or shot time.
In some embodiments, it is determined whether a preset component of the drone enters a locked state based on whether a remaining amount of the job information is greater than a preset value.
And the control terminal of the unmanned aerial vehicle determines whether to enter a locking state according to whether the surplus of the operation information is greater than a preset value. The control terminal can be a remote controller of an unmanned aerial vehicle, a mobile phone, a tablet personal computer, a ground base station, a background server and the like.
Or, an onboard controller (e.g., a flight controller) of the unmanned aerial vehicle determines whether to enter a locked state according to whether the remaining amount of the operation information is greater than a preset value.
In the locked state (mode), the drone may lose part or all of the existing functions or not execute part or all of the control instructions.
For example, in the locked state (mode), preset components (e.g., working components such as a sprayer, a water pump, a camera, etc.; power devices such as a motor, etc.) of the drone are controlled to stop working.
Or, in the locking state (mode), controlling the agricultural plant protection unmanned aerial vehicle to return to the home immediately or stopping executing the operation plan.
Unmanned aerial vehicle can be for taking photo by plane unmanned aerial vehicle, agricultural plant protection unmanned aerial vehicle, surveying unmanned aerial vehicle, patrol line unmanned aerial vehicle etc.. In the following embodiments, an agricultural plant protection unmanned aerial vehicle is taken as an example for explanation.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.
In this example embodiment, an agricultural plant protection unmanned aerial vehicle is first provided. Referring to fig. 1 and 2, the agricultural plant protection drone 100 may include a power system 110, a flight controller 120, and a wireless communication device 130.
In an example embodiment of the present disclosure, the power system 110 may be used to provide flight power to the drone; for example, the power system 110 may be an electric motor including an electric motor, an electric governor, a propeller, and a battery, etc.; secondly, the flight controller 120 may be electrically connected to the power system 110 for controlling the power system to adjust the flight attitude; for example, the flight controller may be, for example, a CPU or MCU or the like; further, the wireless communication device 130 may be electrically connected with the flight controller, and the flight controller 120 may be communicatively connected with the control terminal 210 through the wireless communication device 130. The control terminal may include, for example, a remote controller of the agricultural plant protection unmanned aerial vehicle, a mobile terminal, a ground base station, a background server, and the like, and this example takes the control terminal as the remote controller of the agricultural plant protection unmanned aerial vehicle as an example for description.
In an example embodiment of the present disclosure, the wireless communication apparatus 130 transmits an update packet of the user job information transmitted by the control terminal 210 to the flight controller; after the flight controller 120 receives the new update data packet of the user operation, the user operation information stored locally (for example, may be stored in a memory system of the plant protection unmanned aerial vehicle) is updated according to the update data packet of the user operation information; further, when the user job information is updated, the flight controller 120 may determine whether to enter the lock mode according to the updated locally stored user job information.
On one hand, the agricultural plant protection unmanned aerial vehicle directly enters the operation mode under the condition that the unmanned aerial vehicle does not enter the locking mode, and the problems of low operation efficiency and poor operation effect caused by manual operation in the prior art are solved; on the other hand, the user can arrange the information to be operated of the plant protection unmanned aerial vehicle at the control terminal and then send the information to the flight controller, so that the problem that the operation arrangement process is complicated due to the fact that the user needs to directly arrange the flight operation in the flight controller is solved, and the arrangement efficiency of the operation information is improved; on the other hand, when the updated user operation information meets the preset conditions (for example, the number of acreages to be operated is larger than the number of acreages capable of being operated), the plant protection unmanned aerial vehicle can be determined to enter the locking mode, so that the excessive use of the plant protection unmanned aerial vehicle by a user is avoided, and the economic loss is reduced; simultaneously, after getting into the locking mode, the user can be through adopting the mode of continuing to pay to unblock, and it is great to have avoided the purchase difficulty that needs the higher amount expense of disposable payment to lead to, and then makes unmanned aerial vehicle popularize the acceleration rate and can not obtain the guarantee to lead to the slower problem of agricultural information ization speed to a certain extent.
In an example embodiment of the present disclosure, determining whether the plant protection drone enters the lock mode may include, for example: on one hand, the available operation acreage: charging according to the spraying area measurement, and acquiring an effective spraying acreage area by a spraying flowmeter; for example, if the available operation acreage is less than the acreage needing to be sprayed in the updated user operation information, entering a locking mode; on the other hand, available flight time: settling accounts according to the time length of purchasing and using the plant protection unmanned aerial vehicle, and stopping using the plant protection unmanned aerial vehicle when the time is up; for example, if the available flight time is less than the required flight time in the updated user operation information, entering a locking mode; on the other hand, the mu dosage of the spraying flow is as follows: calculating the total spraying flow and the like according to the amount of the spraying nozzle flowing out; for example, if the acreage of the sprayable flow is less than the acreage needing to be sprayed, entering a locking mode; further, the number of available take-offs: calculating the maximum limit of the take-off and landing times and the like according to the effective take-off and landing times; for example, if the available take-off and landing times are less than the required take-off and landing times, the locking mode is entered; further, settlement is carried out according to specific time: settlement is carried out in a recharging time period of monthly/weekly/daily/hourly; for example, if the available time of the day of spraying (month/week or hour) is less than required, then the lock mode is entered, and so on.
In an example embodiment of the present disclosure, to update the locally stored user job information, the flight controller 120 may be further configured to send a request instruction of an update data packet including the user job information to the control terminal 210 before takeoff; when the control terminal 210 receives the request instruction, notifying the user to arrange the information to be operated; it should be noted here that any one of the above tasks may be arranged, and then another task is obtained by a conversion method; for example, the required flight duration, the required spray flow rate, the required take-off and landing times, etc. can be obtained by arranging the acreage to be sprayed, and then the flight controller can obtain the acreage to be sprayed. Further, when the flight controller 120 receives the update packet of the user job information transmitted by the control terminal 210 in response to the request instruction, the locally stored user job information may be updated using the update packet of the user job information.
In an example embodiment of the present disclosure, the flight controller 120 may be further configured to directly enter the lock mode if the request time or the number of request times of the request instruction exceeds a preset condition. For example, when the request time of the request instruction exceeds a preset duration (the control terminal does not respond for a long time, for example, 5min does not respond, etc.), or the number of times exceeds a preset number of times (for example, five request instructions are sent, but none of the control terminals respond, etc.), the plant protection unmanned aerial vehicle can be directly controlled to enter the locking mode. By the method, the safety of the unmanned aerial vehicle can be further protected.
In an example embodiment of the present disclosure, the flight controller 120 may be further configured to determine whether to enter the lock mode according to the locally stored current user job information if the request time or the number of times of the request instruction exceeds a preset condition. For example, when the control terminal 210 does not respond, when the locally stored information of the current user to be operated meets the operable condition of the plant protection unmanned aerial vehicle, the plant protection unmanned aerial vehicle may be controlled to enter the operation mode; when the operable condition is not met, the plant protection unmanned aerial vehicle is controlled to enter a locking mode.
In this example embodiment, the flight controller may be further configured to not enter the lock mode if the remaining value of the updated locally stored user job information is less than or equal to a preset value. For example, if the remaining acreage is less than or equal to the preset acreage (the acreage can be worked), the locking mode (the working mode) can not be entered; and further, if the residual value of the updated locally stored user operation information is greater than a preset value, entering the locking mode. For example, if the remaining acreage is greater than the preset acreage, the locking mode may be entered.
In this example embodiment, the flight controller may be further configured to: acquiring current user operation information in real time; and updating the locally stored user operation information according to the current user operation information. For example, the user can update the information to be operated in the remote controller in real time according to the acreage required to be operated currently, and then the remote controller can send the information to be operated to the wireless communication device in real time; the wireless communication device sends the information to be operated to the flight controller, so that the flight controller can update the stored user operation information in real time. By the mode, the taking-off and landing times of the unmanned aerial vehicle can be reduced, and the operation efficiency is improved; meanwhile, the damage to the unmanned aerial vehicle due to excessive take-off and landing times can be reduced.
In this example embodiment, in order to enable normal use of the plant protection drone, the plant protection drone needs to be activated. Wherein: the control terminal is also used for receiving an activation request of a user, generating an activation instruction according to the activation request and sending the activation instruction to the flight controller; the flight controller is further used for activating the unmanned aerial vehicle according to the activation instruction. Further, the control terminal encrypts the activation instruction through a secret key corresponding to the unmanned aerial vehicle, and sends the encrypted activation instruction to the flight controller. Furthermore, the flight controller decrypts the encrypted activation instruction and activates the unmanned aerial vehicle according to the decrypted activation instruction. For example, when the value assurance drone leaves the factory, a secret key is written in, which may be a symmetric key or an asymmetric key, and stores a public key or a symmetric key of the server. The user 220 may send an activation request to the server 230 through the control terminal 210, the server 230 generates an activation instruction according to the activation request, and after signature encryption is performed by the server 230, the encrypted activation instruction is sent to the control terminal 210; the control terminal 210 sends the activation instruction to the flight controller 120 through the wireless communication module 130; after the flight controller 120 verifies the signature of the command of the server, if it is legitimate, an activation operation is performed. By using the mode, damage to the unmanned aerial vehicle due to malicious activation is avoided, and safety of the unmanned aerial vehicle is further improved while safety of a user in the using process is also improved.
In this example embodiment, in order to facilitate the user after consuming to a certain extent, can have better user experience, can also unlock unmanned aerial vehicle. Wherein: the flight controller is further configured to: acquiring the total amount of operated information, wherein the total amount of operated information is the sum of the historical operated information of the agricultural plant protection unmanned aerial vehicle; and determining whether to release the locking mode according to the total amount of the operated information. Further, the flight controller is further configured to, if the total amount of the operated information is greater than a preset amount, release the lock mode; the user operation information may include operation mileage, operation area, operation time, operation dosage, flight time, takeoff times and recharge amount. For example, information of past successful jobs of a history may be acquired; then calculating the total amount of information which is successfully operated in the past; when the total amount of the successfully worked information is greater than a preset amount (for example, the total amount of the successfully worked information is 15000 mu, and the preset amount is 12000 mu), the locking mode of the plant protection unmanned aerial vehicle may be contacted.
In this example embodiment, the flight controller may be further configured to stop controlling the working component of the agricultural plant protection drone to perform work in the locked mode; and stopping the remaining job plans; wherein, the working components can comprise a water pump, a spray head, a spreader and the like; for example, the water pump may be controlled to stop pumping water, the sprayer spreader may be turned off, etc.; further, when in the locking mode, the power system is controlled not to generate takeoff power; furthermore, when in the locking mode, the agricultural plant protection unmanned aerial vehicle is controlled to return to the air immediately; for example, when the agricultural plant protection unmanned aerial vehicle enters a locking mode in the working process, the operation of an operation part can be immediately stopped, and the agricultural plant protection unmanned aerial vehicle can return to the original position; furthermore, when in the locking mode, sending locking prompt information to a remote controller of the agricultural plant protection unmanned aerial vehicle; for example, the flight controller may generate information of a locked state to send to the remote controller when the plant protection drone enters the locked mode, and then the remote controller presents the information to the user for subsequent processing by the user.
The disclosure also provides a control method of the agricultural plant protection unmanned aerial vehicle. Referring to fig. 3, the control method may include step S310, step S320, and step S330. Wherein:
in step S310, an update packet of the user job information transmitted by the control terminal is received.
In step S320, the locally stored user job information is updated according to the update data packet of the user job information.
In step S330, it is determined whether to enter the lock mode according to the updated locally stored user job information.
Next, steps S310 to S330 will be explained and explained. Referring to fig. 1 and fig. 2, first, the wireless synchronization module 130 of the plant protection drone 100 receives an update packet of the user job information sent by the control terminal 210; the control terminal can comprise a remote controller of the agricultural plant protection unmanned aerial vehicle, a mobile phone, a ground base station, a background server and the like; when the wireless synchronization module 130 receives the update data packet, the update data packet is sent to the flight controller 120, and the flight controller 120 updates the locally stored user operation information by using the update data packet; after the flight controller 120 completes updating the user operation information, it is determined whether the plant protection unmanned aerial vehicle enters the locking mode.
Further, in order to update the locally stored user job information, the control method may further include: sending a request instruction of an update data packet including user job information to the control terminal 210 before takeoff; when the control terminal 210 receives the request instruction, notifying the user to arrange the information to be operated; it should be noted here that any one of the above tasks may be arranged, and then another task is obtained by a conversion method; for example, the required flight duration, the required spray flow rate, the required take-off and landing times, etc. can be obtained by arranging the acreage to be sprayed, and then the flight controller can obtain the acreage to be sprayed. Further, when the flight controller 120 receives the update packet of the user job information transmitted by the control terminal 210 in response to the request instruction, the locally stored user job information may be updated using the update packet of the user job information.
In an example embodiment of the present disclosure, the control method may further include: and if the request time or the request times of the request instruction exceed a preset condition, directly entering a locking mode. For example, when the request time of the request instruction exceeds a preset duration (the control terminal does not respond for a long time, for example, 5min does not respond, etc.), or the number of times exceeds a preset number of times (for example, five request instructions are sent, but none of the control terminals respond, etc.), the plant protection unmanned aerial vehicle can be directly controlled to enter the locking mode. By the method, the safety of the unmanned aerial vehicle can be further protected.
In an example embodiment of the present disclosure, the control method may further include: and the locking module is used for determining whether to enter a locking mode according to the locally stored current user operation information if the request time or the request times of the request instruction exceed a preset condition. For example, when the control terminal does not respond and the locally stored information of the current user to be operated meets the operable conditions of the plant protection unmanned aerial vehicle, the plant protection unmanned aerial vehicle can be controlled to enter an operation mode; when the operable condition is not met, the plant protection unmanned aerial vehicle is controlled to enter a locking mode.
In the present exemplary embodiment, the control method may further include: and if the residual value of the updated locally stored user operation information is less than or equal to a preset value, not entering the locking mode. For example, if the remaining acreage is less than or equal to the preset acreage (the acreage can be worked), the locking mode (the working mode) can not be entered; and further, if the residual value of the updated locally stored user operation information is greater than a preset value, entering the locking mode. For example, if the remaining acreage is greater than the preset acreage, the locking mode may be entered.
In the present exemplary embodiment, the control method may further include: acquiring current user operation information in real time; and updating the locally stored user operation information according to the current user operation information. For example, the user can update the information to be operated in the remote controller in real time according to the acreage required to be operated currently, and then the remote controller can send the information to be operated to the wireless communication device in real time; the wireless communication device sends the information to be operated to the flight controller, so that the flight controller can update the stored user operation information in real time. By the mode, the taking-off and landing times of the unmanned aerial vehicle can be reduced, and the operation efficiency is improved; meanwhile, the damage to the unmanned aerial vehicle due to excessive take-off and landing times can be reduced.
In this example embodiment, in order to enable normal use of the plant protection drone, the plant protection drone needs to be activated. Wherein: the control terminal is also used for receiving an activation request of a user, generating an activation instruction according to the activation request and sending the activation instruction to the flight controller; the flight controller is further used for activating the unmanned aerial vehicle according to the activation instruction. Further, the control terminal encrypts the activation instruction through a secret key corresponding to the unmanned aerial vehicle, and sends the encrypted activation instruction to the flight controller. Furthermore, the flight controller decrypts the encrypted activation instruction and activates the unmanned aerial vehicle according to the decrypted activation instruction. For example, when the value assurance drone leaves the factory, a secret key is written in, which may be a symmetric key or an asymmetric key, and stores a public key or a symmetric key of the server. The user 220 may send an activation request to the server 230 through the control terminal 210, the server 230 generates an activation instruction according to the activation request, and after signature encryption is performed by the server 230, the encrypted activation instruction is sent to the control terminal 210; the control terminal 210 sends the activation instruction to the flight controller 120 through the wireless communication module 130; after the flight controller 120 verifies the signature of the command of the server, if it is legitimate, an activation operation is performed. By using the mode, damage to the unmanned aerial vehicle due to malicious activation is avoided, and safety of the unmanned aerial vehicle is further improved while safety of a user in the using process is also improved.
The activation process of the plant protection drone is further explained below in connection with fig. 4. Referring to fig. 4, the activation process of the plant protection drone may include the following steps:
step S410, the user 220 may send an activation request to the server 230 through the control terminal 210;
step S420, the server 230 generates an activation instruction according to the activation request;
step S430, after signing and encrypting the activation instruction, the server 230 generates an encrypted activation instruction;
step S440, the server 230 sends the encryption activation instruction to the control terminal 210;
step S450, the control terminal 210 sends the encryption activation instruction to the flight controller 120 through the wireless communication module 130;
step S460, the flight controller 120 determines whether the encrypted activation instruction is legal;
step S470, if it is legal, perform activation operation.
In this example embodiment, in order to facilitate the user after consuming to a certain extent, can have better user experience, can also unlock unmanned aerial vehicle. Specifically, referring to fig. 5, the control method may further include step S510 and step S520. Wherein:
in step S510, a total amount of operated information is obtained, where the total amount of operated information is a sum of historical operated information amounts of the agricultural plant protection unmanned aerial vehicle.
In step S520, it is determined whether to release the lock mode according to the total amount of the already-worked information.
Next, step S510 and step S520 will be explained and explained. For example, information of past successful jobs of a history may be acquired; then calculating the total amount of information which is successfully operated in the past; the user operation information may include operation mileage, operation area, operation time, operation dosage, flight time, takeoff times and recharge amount. Further, if the total amount of the operated information is greater than a preset amount, the locking mode is released; when the total amount of the successfully worked information is greater than a preset amount (for example, the total amount of the successfully worked information is 15000 mu, and the preset amount is 12000 mu), the locking mode of the plant protection unmanned aerial vehicle may be contacted.
In the present exemplary embodiment, the control may further include: when the agricultural plant protection unmanned aerial vehicle is in the locking mode, stopping controlling the operation parts of the agricultural plant protection unmanned aerial vehicle to operate; and stopping the remaining job plans; wherein, the working components can comprise a water pump, a spray head, a spreader and the like; for example, the water pump may be controlled to stop pumping water, the sprayer spreader may be turned off, etc.; for another example, a flow data instrument can be added and externally mounted on the unmanned aerial vehicle nozzle, and a flow meter value can be obtained, so that the value is limited, and spraying is stopped after the residual flow limit is reached; further, when in the locking mode, the power system is controlled not to generate takeoff power; furthermore, when in the locking mode, the agricultural plant protection unmanned aerial vehicle is controlled to return to the air immediately; for example, when the agricultural plant protection unmanned aerial vehicle enters a locking mode in the working process, the operation of an operation part can be immediately stopped, and the agricultural plant protection unmanned aerial vehicle can return to the original position; furthermore, when in the locking mode, sending locking prompt information to a remote controller of the agricultural plant protection unmanned aerial vehicle; for example, the flight controller may generate information of a locked state to send to the remote controller when the plant protection drone enters the locked mode, and then the remote controller presents the information to the user for subsequent processing by the user.
Next, the control method of the agricultural plant protection unmanned aerial vehicle is further explained with reference to fig. 6. Referring to fig. 6, the control method of the agricultural plant protection unmanned aerial vehicle may include the following steps:
step S610, activating the agricultural plant protection unmanned aerial vehicle;
step S620, writing the total unlocking limit into the flight controller; wherein, the unlocking limit is a flight data value, for example, 1500 mu; moreover, after the unmanned aerial vehicle is activated, available credit is given; for example, it may be 100 acres, etc.;
step S630, prepaying the recharge money, and writing the recharge money information into the flight controller; when the agricultural service platform recharges, user login can be carried out in advance; when the user is activated before, the farm service platform binds the activation information of the airplane with the user; the WeChat is associated to an order when the two-dimensional code is scanned, and the order binds user information;
step S640, calculating the operation area (spraying flow and spraying width), wherein the calculation mode may be online settlement or offline settlement, and the like, which is not limited in this example; judging whether the plant protection unmanned aerial vehicle enters a locking mode or not according to the operation area; for example, when the available quota is smaller than the operation area (or smaller than the credit value: can be-1000 mu, etc.), the plant protection unmanned plane cannot take off, the plant protection unmanned plane needs to enter the locking mode, etc.;
step S650, sending the information of entering the locking mode to a control terminal (for example, a remote controller of the plant protection unmanned aerial vehicle); after the unmanned aerial vehicle is networked to update the available quota and settle accounts, if the available quota is greater than 0, the unmanned aerial vehicle can continue flying;
step S660, calculating the total amount of already-operated information; judging whether the total amount of the operated information is larger than the total unlocking limit or not; after the total unlocking limit is completed, the plant protection unmanned aerial vehicle is not limited by payment, and is limited by cloud synchronous unlocking.
Moreover, although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (42)
- An agricultural plant protection unmanned aerial vehicle, its characterized in that includes:the power system is used for providing flight power for the unmanned aerial vehicle;the flight controller is electrically connected with the power system and used for controlling the power system to adjust the flight attitude;the wireless communication device is electrically connected with the flight controller, and the flight controller is in communication connection with the control terminal through the wireless communication device;the wireless communication device sends an update data packet of the user operation information sent by the control terminal to a flight controller;the flight controller updates the locally stored user operation information according to the update data packet of the user operation information;and the flight controller determines whether to enter a locking mode according to the updated locally stored user operation information.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further to:and sending a request instruction of an updating data packet comprising user operation information to the control terminal before takeoff.
- The agricultural plant protection drone of claim 2, wherein the flight controller is further configured to directly enter a locked mode if a request time or number of the request instructions exceeds a preset condition.
- The agricultural plant protection unmanned aerial vehicle of claim 2, wherein the flight controller is further configured to determine whether to enter a locked mode according to locally stored current user work information if a request time or a number of times of the request instruction exceeds a preset condition.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further to update locally stored user job information prior to takeoff.
- The agricultural plant protection drone of claim 1, wherein the control terminal includes one or more of a remote control of the agricultural plant protection drone, a mobile terminal, a ground base station, and a background server.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further configured to not enter the locked mode if a remaining value of the updated locally stored user job information is less than or equal to a preset value.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further configured to enter the locked mode if a remaining value of the updated locally stored user work information is greater than a preset value.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further to:acquiring current user operation information in real time;and updating the locally stored user operation information according to the current user operation information.
- The agricultural plant protection drone of claim 1, further comprising:the control terminal is also used for receiving an activation request of a user, generating an activation instruction according to the activation request and sending the activation instruction to the flight controller;the flight controller is further used for activating the unmanned aerial vehicle according to the activation instruction.
- The agricultural plant protection unmanned aerial vehicle of claim 10, wherein the control terminal encrypts the activation instruction with a key corresponding to the unmanned aerial vehicle and sends the encrypted activation instruction to a flight controller.
- The agricultural plant protection drone of claim 11, wherein the flight controller is further to: the unmanned aerial vehicle is activated by decrypting the encrypted activating instruction and according to the decrypted activating instruction.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further to:acquiring the total amount of operated information, wherein the total amount of operated information is the sum of the historical operated information of the agricultural plant protection unmanned aerial vehicle;and determining whether to release the locking mode according to the total amount of the operated information.
- The agricultural plant protection drone of claim 13, wherein the flight controller is further configured to disengage the locked mode if a total amount of the worked information is greater than a preset amount.
- The agricultural plant protection unmanned aerial vehicle of claim 1, wherein the user work information comprises one or more of a work mileage, a work area, a work time, a work dose, a flight time, a takeoff number, and a recharge amount.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further configured to stop controlling a working component of the agricultural plant protection drone to work while in the locked mode.
- The agricultural plant protection drone of claim 16, wherein the operational components include one or more of a water pump, a spray head, and a spreader.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further configured to control the power system not to generate take-off power when in the locked mode.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further configured to control the agricultural plant protection drone to return to the flight immediately when in the locked mode.
- The agricultural plant protection unmanned aerial vehicle of claim 1, wherein the flight controller is further configured to send a prompt to lock to a remote control of the agricultural plant protection unmanned aerial vehicle when in the locked mode.
- The agricultural plant protection drone of claim 1, wherein the flight controller is further configured to stop executing a job plan while in the locked mode.
- A control method of an agricultural plant protection unmanned aerial vehicle is characterized by comprising the following steps:receiving an update data packet of user operation information sent by a control terminal;updating the locally stored user operation information according to the updating data packet of the user operation information;and determining whether to enter a locking mode according to the updated locally stored user operation information.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:and sending a request instruction of an updating data packet comprising user operation information to the control terminal before takeoff.
- The method for controlling an agricultural plant protection unmanned aerial vehicle of claim 23, wherein if the request time or the number of the request commands exceeds a preset condition, directly entering a locking mode.
- The method for controlling an agricultural plant protection unmanned aerial vehicle of claim 23, wherein if the request time or the number of times of the request instruction exceeds a preset condition, determining whether to enter a locking mode according to current user operation information stored locally.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:the locally stored user job information is updated prior to takeoff.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the control terminal includes one or more of a remote control of the agricultural plant protection drone, a mobile phone, a ground base station, and a background server.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:and if the residual value of the updated locally stored user operation information is less than or equal to a preset value, not entering the locking mode.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:and if the residual value of the updated locally stored user operation information is larger than a preset value, entering the locking mode.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:acquiring current user operation information in real time;and updating the locally stored user operation information according to the current user operation information.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:receiving an activation instruction sent by a control terminal;and activating the unmanned aerial vehicle according to the activation instruction.
- The method for controlling the agricultural plant protection unmanned aerial vehicle of claim 31, wherein the control terminal generates the activation instruction according to an activation request of a user, encrypts the activation instruction by a key corresponding to the unmanned aerial vehicle, and sends the encrypted activation instruction.
- The method of controlling an agricultural plant protection drone of claim 32, wherein activating the drone according to the activation instruction includes:decrypting the encrypted activating instruction, and activating the unmanned aerial vehicle according to the decrypted activating instruction.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:acquiring the total amount of operated information, wherein the total amount of operated information is the sum of the information amount of all previous operations of the agricultural plant protection unmanned aerial vehicle;and determining whether to release the locking mode according to the total amount of the operated information.
- The method of controlling an agricultural plant protection drone of claim 34, wherein the method of controlling further comprises:and if the total amount of the operated information is larger than a preset amount, releasing the locking mode.
- The control method of an agricultural plant protection unmanned aerial vehicle of claim 22, wherein the user work information comprises one or more of a work mileage, a work area, a work time, a work dose, a takeoff number, and a recharge amount.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:and when the locking mode is adopted, the operation part of the agricultural plant protection unmanned aerial vehicle is stopped to be controlled to operate.
- The method of controlling an agricultural plant protection drone of claim 37, wherein the operational components include one or more of a water pump, a spray head, and a spreader.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:and controlling the power system not to generate takeoff power in the locking mode.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:and controlling the agricultural plant protection unmanned aerial vehicle to return to the air immediately in the locking mode.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:and sending locking prompt information to a remote controller of the agricultural plant protection unmanned aerial vehicle in the locking mode.
- The method of controlling an agricultural plant protection drone of claim 22, wherein the method of controlling further comprises:in the locked mode, execution of the job plan is immediately stopped.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/119239 WO2020113446A1 (en) | 2018-12-04 | 2018-12-04 | Agricultural plant protection unmanned aerial vehicle and control method therefor |
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| Publication Number | Publication Date |
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| CN111433695A true CN111433695A (en) | 2020-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201880068620.5A Pending CN111433695A (en) | 2018-12-04 | 2018-12-04 | Agricultural plant protection unmanned aerial vehicle and control method thereof |
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| WO (1) | WO2020113446A1 (en) |
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